mtwsdidata.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef MTWSDIDATA_H
#define MTWSDIDATA_H

#include <xsens/pstdint.h>
#include <xsens/xsvector3.h>
#include <xsens/xsquaternion.h>
#include <xsens/xsdeviceid.h>

struct XsRange;

struct MtwSdiData
{
    /** The ID of the device that generated the data */
    XsDeviceId m_deviceId;
    /** Indicates if the time sync is in order (unused) */
    uint8_t m_timeSync;
    /** The first frame number of the SDI interval. The time of the interval is
     * [first, last) */
    uint16_t m_firstFrameNumber;
    /** The last frame number of the SDI interval. The time of the interval is
     * [first, last) */
    uint16_t m_lastFrameNumber;
    /** The gyroscope bias used during the SDI interval */
    XsVector3 m_currentBias;
    /** The orientation increment (delta Q) over the interval */
    XsQuaternion m_orientationIncrement;
    /** The velocity increment (delta V) over the interval */
    XsVector3 m_velocityIncrement;
    /** reserved */
    bool m_aidingData;
    /** The barometer value during the interval */
    double m_barometer;
    /** The magnetometer values during the interval */
    XsVector3 m_magnetoMeter;
    /** The Received Signal Strength Indication (RSSI) of the message */
    int8_t m_rssi;

    MtwSdiData();
    MtwSdiData(const MtwSdiData& other);
    ~MtwSdiData();
    const MtwSdiData& operator=(const MtwSdiData& other);

    bool empty() const;
    bool containsAidingData() const;
    XsQuaternion orientationIncrement() const;
    XsVector velocityIncrement() const;
    double pressure() const;
    XsVector magneticField() const;
    XsVector currentBias() const;
    XsRange frameRange() const;
    double rssi() const;
};

#endif  // file guard